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Robot coordination using task-priority and sliding-mode techniques

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Robot coordination using task-priority and sliding-mode techniques

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dc.contributor.author Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Sala Piqueras, Antonio es_ES
dc.contributor.author Garelli, Fabricio es_ES
dc.date.accessioned 2015-05-11T07:31:12Z
dc.date.available 2015-05-11T07:31:12Z
dc.date.issued 2014-02
dc.identifier.issn 0736-5845
dc.identifier.uri http://hdl.handle.net/10251/49990
dc.description.abstract In this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higherpriority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach is substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively. es_ES
dc.description.sponsorship This work was supported in part by research under Project DPI2011-27845-C02-01 of the Spanish Government and Projects ANPCyT PICT-2011-0888, CONICET PIP 112-2011-00361 and UNLP 1164 in Argentina. en_EN
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation.ispartof Robotics and Computer-Integrated Manufacturing es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Multi-robot systems es_ES
dc.subject Cooperative robots es_ES
dc.subject Robot control es_ES
dc.subject Collision avoidance es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Robot coordination using task-priority and sliding-mode techniques es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.rcim.2013.08.003
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//DPI2011-27845-C02-01/ES/ESTIMACION, OPTIMIZACION Y CONTROL MULTIVARIABLE EN SISTEMAS MULTI-MODELO/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/ANPCyT//PICT-2011-0888/AR/Sistemas conmutados de control. Aplicación al control de procesos y sistemas con restricciones/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/UNLP//I164 / es_ES
dc.relation.projectID info:eu-repo/grantAgreement/CONICET//PIP 112-2011-00361/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation Gracia Calandin, LI.; Sala Piqueras, A.; Garelli, F. (2014). Robot coordination using task-priority and sliding-mode techniques. Robotics and Computer-Integrated Manufacturing. 30(1):74-89. https://doi.org/10.1016/j.rcim.2013.08.003 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.1016/j.rcim.2013.08.003 es_ES
dc.description.upvformatpinicio 74 es_ES
dc.description.upvformatpfin 89 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 30 es_ES
dc.description.issue 1 es_ES
dc.relation.senia 254440
dc.contributor.funder Ministerio de Ciencia e Innovación es_ES
dc.contributor.funder Agencia Nacional de Promoción Científica y Tecnológica, Argentina es_ES


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